Division of Informatics
Forrest Hill & 80 South Bridge
PhD Thesis #9619 | |
|---|---|
| Title: | Development of Pvdf Tactile Dynamic Sensing in a Behaviour-Based Assembly Robot |
| Authors: | Kim,T |
| Date: | 1996 |
| Presented: | |
| Keywords: | |
| Abstract: | The research presented in this thesis focuses on the development of tactile event signature sensors and their application, especially in reactive behaviour-based robotic assembly systems.In pursuit of practical and economic sensors for detecting part contact, the application of PVDF (polyvinylidene fluoride) film, a mechanical vibration sensitive piezo material is investigated. A Clunk Sensor is developed which remotely detects impact vibrations and a Push Sensor is developed which senses small changes in the deformation of a compliant finger surface. The Push Se3nsor is further developed to provide some force direction and force pattern sensing capability. By being able to detect changes of state in an assembly, such as a change of contact force, an assembly robot can be well informed of current conditions. The complex structure of assembly tasks provides a rich context within which to interpret changes of state, so simple binary sensors can conveniently supply a lot more information than in the domain of mobile robots. Guarded motions, for example, which require sensing a change of state, have long been recognised as very useful in part mating tasks. Guarded motions are particularly well suited to be components of assembly behavioural modules.In behaviour-based robotic assembly systems, the high level planner is endowed with as little complexity as possible while the low level planning execution agent deals with actual sensing and action. Highly reactive execution agents can provide advantages by encapsulating low level sensing and action, hiding the details of sensori-motor complexity from the higher levels.Because behaviour-based assembly systems, the high level planner is endowed with as litttle complexity as possible while the low level planning execution agent deals with actual sensing and action. |
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